Hi everyone! I'm currently looking for a motion planner for implementing 2D and 3D navigation for a differential drive mobile robot. As far as I read from this forum, the moveIt! google group and internet in general, it should be possible to implement navigation with moveIt!. The task for the robot is navigation in a 2D or 3D indoor environment (probably with ramps, slopes, etc...) with only few obstacles. There could be also some moving obstacles (e.g. people). In particular, the robot should follow a bustrophedic path. My questions are:

• Did someone succed in setting up moveit for a differential drive robot?
• Is there a clear example, excluding the standard moveit_setup_assistant example and other tutorials on the moveIt! website, which are clearly for manipulators, for a differential drive robot setup in moveIt!?
• Is there any advantage in using moveIt! instead of the good-old move_base for this task?